A dual-arm, high-load, deep-penetration robot

Abstract

This utility model discloses a dual-arm robot with high load capacity and large working depth, including a base assembly and two large arm assemblies movably mounted on the left and right sides of the base assembly. Forearm assemblies are movably mounted at the ends of the large arm assemblies, and end effectors are movably mounted at the ends of the forearm assemblies. Each large arm assembly includes a first working motor, a planetary reducer, an adapter, and the large arm itself. The first working motor is mounted on the base assembly, the planetary reducer is connected to the output shaft of the first working motor, and the adapter is connected to the output shaft of the planetary reducer and fixedly connected to the large arm. A calibration pin is mounted on the base assembly, and a zero-position scale line is provided on the large arm. When the calibration pin and the zero-position scale line are collinear, the angle between the large arm and the base assembly is 0 degrees. A large arm output long shaft is mounted on the large arm assembly, and forearm assemblies are rotatably mounted at both ends of the large arm output long shaft. This utility model has a reasonable structural design, featuring high load capacity and large working depth, and is suitable for high-load, large-depth operation scenarios.

Description

Technical Field

[0001] This utility model relates to a dual-arm robot with large load capacity and large depth. Background Technology

[0002] With the development of industrial automation, the application of robot technology is becoming increasingly widespread in various fields. Especially in applications requiring high precision, large load capacity, and a large working range, the performance requirements for robots are constantly increasing. Currently, industrial robots are mainly divided into two categories: serial robots and parallel robots. Among them, serial robots are widely used due to their advantages such as simple structure and large workspace.

[0003] In the existing technology, there are various types of robot structure designs. For example, CN114248258A discloses a high-precision long-arm joint robot, which includes a base component, a waist component, a large arm component, a forearm component, a wrist joint component, and a wrist component connected in sequence. By improving the rigidity of the robot's forearm and changing the connection method between the thick large arm and the long forearm, it achieves the characteristics of high speed, light load, high precision, and long arm span.

[0004] However, existing serial robots still have some technical problems. For example, due to their structural characteristics, the errors of each joint in serial robots accumulate and are transmitted along the kinematic chain, resulting in low end-effector accuracy and large cumulative errors. In addition, the range of motion of traditional serial robots is relatively limited, making it difficult to meet the needs of certain special working environments.

[0005] Therefore, there is an urgent need for a new type of dual-arm, high-load, and deep-reaching robot structure to solve the above-mentioned technical problems, improve the robot's working accuracy, and expand its working range. Utility Model Content

[0006] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a dual-arm, high-load, and deep-reaching robot, achieving the technical effects of improving overall structural rigidity, reducing cumulative errors, and increasing the range of motion. These objectives are achieved as follows:

[0007] This utility model proposes a dual-arm, high-load, and deep-reaching robot, comprising a base assembly and two large-arm assemblies movably mounted on the base assembly. The two large-arm assemblies are respectively arranged on the left and right sides of the base assembly. A forearm assembly is movably mounted at the end of each large-arm assembly, and an end effector is movably mounted at the end of each forearm assembly. Each large-arm assembly includes a first working motor, a planetary reducer, an adapter, and a large arm. The first working motor is mounted on the base assembly. One side of the planetary reducer is connected to the output shaft of the first working motor, and one side of the adapter is connected to the output shaft of the planetary reducer. The adapter is fixedly connected to the large arm. The first working motor drives the large arm to rotate horizontally relative to the base assembly. A calibration needle is also mounted on the base assembly, and a zero-position scale line is provided on the large arm. When the calibration needle and the zero-position scale line are collinear, the angle between the large arm and the base assembly is 0 degrees.

[0008] Preferably, the boom assembly is equipped with a boom output long shaft, and the forearm assembly is rotatably mounted on both ends of the boom output long shaft.

[0009] Furthermore, each of the aforementioned boom assemblies has two forearm assemblies arranged front and rear. Each forearm assembly includes a forearm carbon rod, a forearm connector, a shoulder, a deep groove ball bearing, and a forearm bearing end cap. Forearm connectors are installed at both ends of the forearm carbon rod. The deep groove ball bearings are installed on both sides of the forearm connectors. The shoulder is installed inside the deep groove ball bearing. The forearm bearing end cap is installed on the upper part of the deep groove ball bearing. The forearm connector is sleeved on the boom output long shaft and fixed by the shoulder, the deep groove ball bearing, and the forearm bearing end cap.

[0010] Furthermore, the boom assembly also includes: a front end reinforcing rib, a rear end reinforcing rib, and an internal support steel plate. The internal support steel plate is installed on the front and rear sides of the boom and is fixed by the front end reinforcing rib and the rear end reinforcing rib, respectively. The front end reinforcing rib, the rear end reinforcing rib, the internal support steel plate, and the boom are all fixed by hexagon socket head cap screws.

[0011] Optionally, it also includes an auxiliary arm assembly, which includes an auxiliary plate and an auxiliary arm. The auxiliary plate is mounted on the output long shaft of the main arm. There are two auxiliary arms. One auxiliary arm is rotatably connected at one end to the base assembly and at the other end to the base assembly. The other auxiliary arm is rotatably connected at one end to the base assembly and at the other end to the end effector.

[0012] Compared with the prior art, the beneficial effects of this utility model are: the zero-point scale line and calibration needle can accurately and conveniently return to zero; at the same time, by adopting a double-arm parallel two-degree-of-freedom structure, the double-arm symmetrical structure can help with the uncertain position of the transition planar motion; the motion of each degree of freedom is driven by an independent motor, the motors do not interfere with each other, there is no cumulative error, and the accuracy of the end effector can be well guaranteed.

[0013] By increasing the length of the forearm, the robot's vertical running distance is increased, and its range of motion is more extensive. At the same time, it can rely on inertia to pass through dead points during operation, and the external motor cables will not be displaced, which can significantly improve the range of motion during operation. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of a dual-arm robot with high load capacity and deep depth.

[0015] Figure 2 This is a three-dimensional structural diagram of the base assembly of a dual-arm, high-load, and deep-reaching robot.

[0016] Figure 3 This is an exploded structural diagram of the main arm component of a dual-arm, high-load, and deep-reaching robot.

[0017] Figure 4 This is an exploded structural diagram of the forearm assembly of a dual-arm, high-load, and deep-reaching robot.

[0018] Figure 5 This is a structural diagram of the long output axis of the main arm of a dual-arm, high-load, and deep-reaching robot.

[0019] Figure 6 This is a schematic diagram of the calibration needle of a dual-arm, high-load, and deep-reaching robot.

[0020] Figure 7 This is a schematic diagram of the movement range of the end effector of a dual-arm, high-load, and deep-reaching robot. In the diagram: 1. Base assembly; 2. Upper arm assembly; 3. Lower arm assembly; 4. End effector; 5. First working motor; 6. Planetary reducer; 7. Adapter; 8. Upper arm; 9. Calibration needle; 10. Zero-position scale line; 11. Upper arm output long shaft; 12. Lower arm carbon rod; 13. Lower arm connector; 14. Shoulder; 15. Deep groove ball bearing; 16. Lower arm bearing end cap; 17. Upper arm front reinforcing rib; 18. Upper arm rear reinforcing rib; 19. Upper arm internal support steel plate; 20. Socket head cap screw; 21. Auxiliary arm assembly; 22. Auxiliary plate; 23. Auxiliary arm. Detailed Implementation

[0021] To enhance understanding of this utility model, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. These embodiments are only used to explain the present utility model and do not constitute a limitation on the scope of protection of the present utility model.

[0022] Example 1

[0023] Please refer to Figure 1-7 This utility model discloses a dual-arm, high-load, and deep-reaching robot, comprising a base assembly 1 and two large-arm assemblies 2 movably mounted on the base assembly 1. The two large-arm assemblies 2 are respectively arranged on the left and right sides of the base assembly 1. A forearm assembly 3 is movably mounted at the end of each large-arm assembly 2, and an end effector 4 is movably mounted at the end of each forearm assembly 3. Each large-arm assembly 2 includes a first working motor 5, a planetary reducer 6, an adapter 7, and a large arm 8. The first working motor 5 is mounted on the base assembly 1. One side of the planetary reducer 6 is connected to the output shaft of the first working motor 5, and one side of the adapter 7 is connected to the output shaft of the planetary reducer 6. The adapter 7 is fixedly connected to the large arm 8. The first working motor 5 drives the large arm 8 to rotate horizontally relative to the base assembly 1. A calibration needle 9 is also mounted on the base assembly 1, and a zero-position scale line 10 is provided on the large arm 8. When the calibration needle 9 and the zero-position scale line 10 are collinear, the angle between the large arm 8 and the base assembly 1 is 0 degrees.

[0024] Understandably, base assembly 1 is made of high-strength aluminum alloy, possessing high rigidity and strength, capable of withstanding the weight of the upper arm assembly 2 and the lower arm assembly 3, as well as various forces and torques generated during operation. The bottom of base assembly 1 has multiple mounting holes, allowing it to be bolted to the worktable surface, ensuring the robot's stability during operation.

[0025] Understandably, the first working motor 5 is a servo motor, characterized by high precision and high response speed, enabling precise control of the rotation angle and speed of the boom 8. The planetary reducer 6 features high transmission efficiency, small size, and high load-bearing capacity, converting the high-speed, low-torque output of the first working motor 5 into a low-speed, high-torque output to meet the rotation requirements of the boom 8. The adapter 7 is made of high-strength alloy steel, with one end connected to the output shaft of the planetary reducer 6 via a key, and the other end fixed to the boom 8 via bolts, ensuring the reliability and stability of the transmission. The boom 8 is made of carbon fiber composite material, characterized by its light weight and high strength, reducing the robot's weight and increasing its load-bearing capacity. The boom 8 has a rectangular hollow cross-section, further improving its bending and torsional resistance. The zero-position scale line 10 on the boom 8 is made using laser etching, featuring permanence and high precision.

[0026] Understandably, the calibration pin 9, mounted on the base assembly 1, is made of hard alloy material, which features good wear resistance and high positioning accuracy. The calibration pin 9, used in conjunction with the zero-position scale line 10, allows for convenient calibration of the zero position of the upper arm 8, ensuring the robot's positioning accuracy.

[0027] Understandably, the boom assembly 2 is equipped with a boom output long shaft 11, and the forearm assembly 3 is rotatably mounted on both ends of the boom output long shaft 11. The boom output long shaft 11 is made of high-strength alloy steel, and its surface has been quenched and precision ground, giving it high hardness, high precision, and good wear resistance. The boom output long shaft 11 is mounted at the end of the boom 8 via bearings and can rotate freely around the axis of the boom 8.

[0028] Understandably, each boom assembly 2 has two forearm assemblies 3 arranged front and rear. The forearm assembly 3 includes a forearm carbon rod 12, a forearm connector 13, a shoulder 14, a deep groove ball bearing 15, and a forearm bearing end cap 16. The forearm carbon rod 12 has forearm connectors 13 installed at both ends. The deep groove ball bearing 15 is installed on both sides of the forearm connector 13. The shoulder 14 is installed inside the deep groove ball bearing 15. The forearm bearing end cap 16 is installed on the upper part of the deep groove ball bearing 15. The forearm connector 13 is sleeved on the boom output long shaft 11 and fixed by the shoulder 14, the deep groove ball bearing 15, and the forearm bearing end cap 16.

[0029] Understandably, the forearm carbon rod 12 is made of high-modulus carbon fiber composite material, which is lightweight, high-strength, and rigid, capable of withstanding large loads without significant deformation. The forearm connector 13 is made of aluminum alloy and is connected to both ends of the forearm carbon rod 12 via adhesive bonding and bolts, ensuring the reliability and stability of the connection. The deep groove ball bearing 15 is made of high-precision bearing steel, featuring a low coefficient of friction, high load-bearing capacity, and long service life. The shoulder 14 is made of alloy steel, with a surface hardened and precision ground, and is interference-fitted with the inner ring of the deep groove ball bearing 15, ensuring the bearing's positioning accuracy and stability. The forearm bearing end cap 16 is made of aluminum alloy and is bolted to the forearm connector 13, providing axial positioning and protection for the deep groove ball bearing 15.

[0030] Understandably, the boom assembly 2 also includes a front-end reinforcing rib 17, a rear-end reinforcing rib 18, and an internal support steel plate 19. The internal support steel plate 19 is installed on the front and rear sides of the boom 8, and is fixed by the front-end reinforcing rib 17 and the rear-end reinforcing rib 18, respectively. The front-end reinforcing rib 17, the rear-end reinforcing rib 18, the internal support steel plate 19, and the boom 8 are all fixed by hexagon socket head cap screws 20.

[0031] Understandably, the front reinforcing rib 17 and rear reinforcing rib 18 of the main arm are made of high-strength aluminum alloy, which is lightweight and high-strength. The internal support steel plate 19 of the main arm is made of high-strength steel plate and is fixed inside the main arm 8 by the front reinforcing rib 17 and rear reinforcing rib 18, forming a stable support structure and improving the bending and torsional resistance of the main arm 8. The hexagon socket head cap screws 20 are made of high-strength alloy steel and have been treated with anti-corrosion coating, which is reliable and easy to assemble and disassemble. The dual-arm heavy-duty and deep-reaching robot also includes an auxiliary arm assembly 21, which includes an auxiliary plate 22 and auxiliary arms 23. The auxiliary plate 22 is mounted on the output long shaft 11 of the main arm. There are two auxiliary arms 23. One auxiliary arm 23 is rotatably connected to the base assembly 1 at one end and the other end of the base assembly 1 at the other end.

[0032] Understandably, the auxiliary plate 22 is made of aluminum alloy and is mounted on the output shaft 11 of the main arm via key connections and bolts, rotating synchronously with the output shaft 11. The auxiliary arm 23 is made of carbon fiber composite material, which is lightweight and high-strength. Bearing seats are provided at both ends of the auxiliary arm 23, which are rotatably connected to the base assembly 1 or the end effector 4 via bearings, forming a parallelogram mechanism to ensure that the end effector 4 remains horizontal during robot movement.

[0033] Understandably, the end effector 4 can be selected from different types to meet different application requirements, such as a robotic arm, suction cup, or electromagnet. The end effector 4 connects to the end of the arm assembly 3 via a flange and can be replaced as needed. The end effector 4 is equipped with sensor and electrical interfaces, allowing connection to various sensors and actuators to achieve workpiece detection and manipulation.

[0034] The working principle of a dual-arm, high-load, and deep-reaching robot is as follows:

[0035] When the robot needs to perform its work, the zero position of the upper arm 8 is first calibrated using the calibration pin 9 and the zero-position scale line 10 to ensure the robot's initial position is accurate. Then, the control system controls the rotation of the first working motor 5, causing the upper arm 8 to rotate horizontally relative to the base assembly 1, thus achieving the robot's horizontal movement. Figure 7As shown, the elliptical lines at the bottom of the figure represent the movement range of the end effector 4. The rotation of the upper arm 8 drives the output long axis 11 of the upper arm and the forearm assembly 3 to move together. The forearm assembly 3 can rotate freely relative to the output long axis 11 of the upper arm through the deep groove ball bearing 15, realizing the vertical movement of the robot. The parallelogram mechanism formed by the auxiliary arm assembly 21 ensures that the end effector 4 remains horizontal during the robot's movement, improving the robot's working accuracy and stability. The two upper arm assemblies 2 of the dual-arm, high-load, and deep-reaching robot can be controlled independently or work together to grasp and manipulate large workpieces. The support structure formed by the front reinforcing rib 17, the rear reinforcing rib 18, and the internal support steel plate 19 of the upper arm assembly 2 improves the bending and torsional resistance of the upper arm 8, enabling the robot to withstand large loads. The carbon rod 12 used in the forearm assembly 3 is lightweight and high-strength, reducing the robot's weight and improving its load capacity. The rotary connection structure, consisting of forearm connector 13, shoulder 14, deep groove ball bearing 15, and forearm bearing end cap 16, ensures the rotational flexibility and stability of the forearm assembly 3 relative to the boom assembly 2. The end effector 4 can be selected in different types to meet various application requirements. Connected to the end of the forearm assembly 3 via a flange, it can be replaced as needed, improving the robot's adaptability and flexibility. The sensor and electrical interfaces on the end effector 4 allow connection to various sensors and actuators, enabling workpiece detection and manipulation, thus enhancing the robot's intelligence level.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A dual arm, heavy payload, high reach robot, characterized by, The system includes a base assembly and two boom assemblies movably mounted on the base assembly. The two boom assemblies are respectively arranged on the left and right sides of the base assembly. A forearm assembly is movably mounted at the end of each boom assembly, and an end effector is movably mounted at the end of each forearm assembly. Each boom assembly includes a first working motor, a planetary reducer, an adapter, and a boom. The first working motor is mounted on the base assembly. One side of the planetary reducer is connected to the output shaft of the first working motor. One side of the adapter is connected to the output shaft of the planetary reducer. The adapter is fixedly connected to the boom. The first working motor drives the boom to rotate horizontally relative to the base assembly. A calibration needle is also mounted on the base assembly, and a zero-position scale line is provided on the boom. When the calibration needle and the zero-position scale line are collinear, the angle between the boom and the base assembly is 0 degrees.

2. The dual-arm, high-load, and deep-reaching robot according to claim 1, characterized in that, The boom assembly is equipped with a boom output long shaft, and the forearm assembly is rotatably mounted on both ends of the boom output long shaft.

3. The dual-arm, high-load, and deep-reaching robot according to claim 2, characterized in that, Each boom assembly has two forearm assemblies arranged front and rear. Each forearm assembly includes a forearm carbon rod, a forearm connector, a shoulder, a deep groove ball bearing, and a forearm bearing end cap. Forearm connectors are installed at both ends of the forearm carbon rod. The deep groove ball bearings are installed on both sides of the forearm connectors. The shoulder is installed inside the deep groove ball bearing. The forearm bearing end cap is installed on the upper part of the deep groove ball bearing. The forearm connector is sleeved on the boom output long shaft and fixed by the shoulder, the deep groove ball bearing, and the forearm bearing end cap.

4. The dual-arm, high-load, and deep-reaching robot according to claim 3, characterized in that, The boom assembly also includes: a front end reinforcing rib, a rear end reinforcing rib, and an internal support steel plate. The internal support steel plate is installed on the front and rear sides of the boom and is fixed by the front end reinforcing rib and the rear end reinforcing rib, respectively. The front end reinforcing rib, the rear end reinforcing rib, the internal support steel plate, and the boom are all fixed by hexagon head screws.

5. The dual-arm, high-load, and deep-reaching robot according to claim 2, characterized in that, It also includes an auxiliary arm assembly, which includes an auxiliary plate and an auxiliary arm. The auxiliary plate is mounted on the output long shaft of the main arm. There are two auxiliary arms. One auxiliary arm is rotatably connected at one end to the base assembly and at the other end to the base assembly. The other auxiliary arm is rotatably connected at one end to the base assembly and at the other end to the end effector.

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